CN112659156A - High-speed parallel manipulator device for gluing easy-open end - Google Patents
High-speed parallel manipulator device for gluing easy-open end Download PDFInfo
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- CN112659156A CN112659156A CN202110088496.2A CN202110088496A CN112659156A CN 112659156 A CN112659156 A CN 112659156A CN 202110088496 A CN202110088496 A CN 202110088496A CN 112659156 A CN112659156 A CN 112659156A
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 68
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- 238000009434 installation Methods 0.000 abstract description 3
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Abstract
The invention relates to a high-speed parallel manipulator device for gluing an easy-open cover, which comprises: a mounting frame; the first driving device is installed on the installation frame. And the second driving device is arranged on the mounting frame and is arranged at an interval with the first driving device. A first link assembly connected to the first driving device; and the second connecting rod assembly is connected to the second driving device. And the gluing frame is rotatably connected to the free end of the first connecting rod assembly and the free end of the second connecting rod assembly, and the free ends of the first connecting rod assembly and the second connecting rod assembly are arranged at intervals. The first driving device drives the first link assembly to rotate; and/or the second driving device drives the second connecting rod assembly to rotate, and the gluing frame is driven by the first connecting rod assembly and the second connecting rod assembly to translate or deflect relative to the mounting frame.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a high-speed parallel manipulator device for gluing an easy-open cover.
Background
In the related art, the gluing process of the easy-open end of the food is completed by adopting a mechanical cam, and the same mechanical cam can only complete one gluing track. The gluing process of the mechanical cam has the defects of low gluing efficiency, poor gluing effect at high speed and inconvenient mechanical design and maintenance. In addition, the mechanical cam has the defects of large mechanical vibration at high speed and low gluing precision. Especially for the special-shaped easy-open end, the cam design difficulty is great, so the improvement is needed.
Disclosure of Invention
The invention aims to provide a high-speed parallel manipulator device for gluing an easy-open cover.
In order to achieve the purpose, the invention adopts the following technical scheme:
there is provided a high speed parallel robot apparatus for gluing easy open end comprising:
a mounting frame;
the first driving device is arranged on the mounting frame;
the second driving device is arranged on the mounting frame and is arranged at an interval with the first driving device;
a first link assembly connected to the first driving device;
a second linkage assembly connected to the second drive device;
the gluing frame is rotatably connected to the free end of the first connecting rod assembly and the free end of the second connecting rod assembly, and the free ends of the first connecting rod assembly and the second connecting rod assembly are arranged at intervals; wherein the content of the first and second substances,
the first driving device drives the first link assembly to rotate; and/or the second driving device drives the second connecting rod assembly to rotate, and the gluing frame is driven by the first connecting rod assembly and the second connecting rod assembly to translate or deflect relative to the mounting frame.
In one embodiment, the plane of rotation of the first link assembly is parallel or coincident with respect to the plane of rotation of the second link assembly.
In one embodiment, the first link assembly and the second link assembly are symmetrically disposed.
In one embodiment, the first link assembly includes a main driving frame and a main driving arm hinged to the main driving frame, the first driving device is fixedly connected to the main driving frame, and the main driving arm is hinged to the gluing frame.
In an embodiment, the first link assembly further includes a balance frame, an auxiliary driving frame and an auxiliary driving arm, the auxiliary driving frame is hinged to the mounting frame, the auxiliary driving arm is hinged to the gluing frame, the main driving frame and the main driving arm are hinged to the balance frame, the auxiliary driving frame is parallel to the main driving frame, and the auxiliary driving arm is parallel to the main driving arm.
In one embodiment, a first distance of the auxiliary driving frame is equal to a second distance of the main driving frame, wherein the first distance is a distance between an axis of the auxiliary driving frame rotating relative to the balancing frame and an axis of the auxiliary driving frame rotating relative to the mounting frame; the second distance is the distance between the axis of rotation of the main drive frame relative to the gimbal and the axis of rotation of the main drive frame relative to the mounting bracket.
In one embodiment, a third distance of the auxiliary transmission arm is equal to a fourth distance of the main transmission arm, wherein the third distance is a distance between an axis of the auxiliary transmission arm rotating relative to the balance frame and an axis of the auxiliary transmission arm rotating relative to the gluing frame; the fourth distance is the distance between the axis of the main transmission arm rotating relative to the balance frame and the axis of the main transmission arm rotating relative to the gluing frame.
In one embodiment, the balance frame includes a first connecting arm, a second connecting arm intersecting with the first connecting arm, a first connecting shaft mounted on the first connecting arm, a second connecting shaft mounted on the second connecting arm, and a rotating portion located at the intersection of the first connecting arm and the second connecting arm, the sub-driving frame is connected to the first connecting shaft, the sub-driving arm is connected to the second connecting shaft, and the main driving arm is connected to the rotating portion.
In an embodiment, the main driving arm includes an upper supporting rod, a lower supporting rod disposed opposite to the upper supporting rod, a reinforcing rod connecting the upper supporting rod and the lower supporting rod, a first rotating shaft, and a second rotating shaft, the main driving frame is rotatably connected to the first rotating shaft and located between the upper supporting rod and the lower supporting rod, and the glue spreading frame is rotatably connected to the second rotating shaft and located between the upper supporting rod and the lower supporting rod.
In one embodiment, the first drive arrangement includes a motor assembly and a speed reduction assembly coupled to the motor assembly, the first link assembly being coupled to the speed reduction assembly.
The invention has the beneficial effects that: the first driving device drives the first connecting rod assembly to move, and the second driving device drives the second connecting rod assembly to move, so that the gluing frame can achieve gluing actions such as translation or rotation under the driving of the first connecting rod assembly and the second connecting rod assembly, gluing procedures of the corresponding region of the easy-open cover are achieved, and operation is flexible and accurate. The gluing frame is driven by the first connecting rod assembly and the second connecting rod assembly together, the movement stability is high, the gluing frame can adapt to a high-speed gluing process, and the use scene of the gluing process is enlarged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic perspective view of a high-speed parallel robot apparatus according to the present invention.
Fig. 2 is a schematic bottom view of the high-speed parallel robot apparatus according to the present invention.
Fig. 3 is a front view schematically illustrating the high-speed parallel robot apparatus according to the present invention.
Fig. 4 is a schematic structural view of the main driving frame in the present invention.
FIG. 5 is an enlarged view of the first and second link assemblies of the present invention connected to the glue applicator.
In the figure: a mounting frame 10; a first drive device 20; a motor assembly 21; a speed reduction assembly 22; a second driving device 30; a first link assembly 40; a main drive frame 41; a main drive arm 42; an upper strut 421; a lower strut 422; a reinforcing rod 423; the first rotating shaft 424; a second rotating shaft 425; a relief hole 426; the sub-drive frame 43; a sub-transmission arm 44; lightening holes 441; a balance frame 45; a second connecting arm 451; a first connecting arm 452; the third connecting arm 453; a first connecting shaft 454; a second connecting shaft 455; a rotating portion 456; a second connecting-rod assembly 50; a glue spreading frame 60; a frame body 61; a mounting portion 611; a body portion 612; a first hinge shaft 62; and a second hinge shaft 63.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, the present invention discloses a high speed parallel robot apparatus for gluing an easy-open lid, comprising: the gluing device comprises a mounting frame 10, a first driving device 20, a second driving device 30, a first connecting rod assembly 40, a second connecting rod assembly 50 and a gluing frame 60. The first driving device 20 and the second driving device 30 are mounted on the mounting frame 10 at intervals, the first link assembly 40 is connected to the first driving device 20, and the second link assembly 50 is connected to the second driving device 30.
The glue applying frame 60 is rotatably connected to the free end of the first link assembly 40 and the free end of the second link assembly 50, and the free end of the first link assembly 40 and the free end of the second link assembly 50 are spaced apart. Wherein, the first driving device 20 drives the first link assembly 40 to rotate; and/or the second driving device 30 drives the second connecting rod assembly 50 to rotate, and the gluing frame 60 is driven by the first connecting rod assembly 40 and the second connecting rod assembly 50 to translate or deflect relative to the mounting frame 10.
The first driving device 20 can independently control the first connecting rod assembly 40 to move, the second driving device 30 can independently control the second connecting rod assembly 50 to move, and the other ends of the first connecting rod assembly 40 and the second connecting rod assembly 50 are connected to the gluing frame 60 at intervals, so that the effect of multi-driving-source combined driving of the high-speed parallel manipulator device is realized, the gluing frame 60 is made to adapt to different action requirements and movement tracks, and the running stability of the gluing frame 60 is improved. The glue applying frame 60 is used for installing one or more glue guns to synchronously spray one or more glue applying areas of the easy-open ends of the food.
The first driving device 20 and the second driving device 30 are both fixedly mounted on the mounting frame 10, and the first driving device 20 and the second driving device 30 are arranged at intervals without mutual interference. The mounting frame 10 is configured as a rigid structure, e.g., the mounting frame 10 is configured as a plate-shaped structure or a frame-type structure, to fix the first driving device 20 and the second driving device 30.
In one embodiment, the first driving device 20 includes a motor assembly 21 and a speed reducing assembly 22 connected to the motor assembly 21, and the main transmission arm 42 is connected to the speed reducing assembly 22. The motor assembly 21 is used for driving the first link assembly 40 to move, and then driving the gluing rack 60 to move. The motor assembly 21 is configured as a servo motor to control and execute a rotation angle with high accuracy by a program. The speed reduction assembly 22 is connected to an output shaft of the motor assembly 21 to adjust the rotational speed and torque force output from the motor assembly 21 so that the glue frame 60 can be installed to operate at a desired angle and speed for applying the glue. Optionally, the reduction assembly 22 is configured as a gearbox.
The first driving device 20 and the second driving device 30 are arranged on the mounting frame 10 at intervals, the first driving device 20 controls the first connecting rod assembly 40, and the second driving device 30 controls the second connecting rod assembly 50, so that independent control is realized, cooperative work is realized according to control instructions, and the operation effect is good. Optionally, the second drive device 30 is identical in construction to the first drive device 20 to improve assembly and operational consistency.
As shown in fig. 2 and 3, the first link assembly 40 and the second link assembly 50 are rotatably connected to the gluing frame 60, and the movement of one of the first link assembly 40 and the second link assembly 50 can drive the other to communicate with the gluing frame 60, so as to form a movement track of translation or rotation, etc. for the gluing frame 60. In one embodiment, the plane of rotation of the first link assembly 40 is parallel or coincident with the plane of rotation of the second link assembly 50. The first link assembly 40 is driven to rotate by the first driving device 20 to form a first plane of rotation. The second link assembly 50 is driven to rotate by the second driving device 30 to form a second plane of rotation. When the first rotation plane and the second rotation plane are parallel or coincident, the movable plane of the gluing frame 60 is parallel or coincident with the first rotation plane, that is, the translation and rotation of the gluing frame 60 are in the same rotation plane, so as to adjust the gluing precision of the gluing frame 60.
The first link assembly 40 and the second link assembly 50 are configured as a multi-link structure with bending motion to push the applicator frame 60 to move. When the first link assembly 40 and the second link assembly 50 are extended and retracted by the same amount with respect to the glue frame 60, the glue frame 60 performs a translational movement. When one of the first link assembly 40 and the second link assembly 50 is extended or retracted by a different amount with respect to the glue frame 60, the glue frame 60 performs translational and yaw movements. In an alternative embodiment, the first link assembly 40 and the second link assembly 50 are symmetrically arranged to improve the control precision of the adjustment and movement of the gluing frame 60 and to enable the special-shaped easy-open-end structure to be coated according to the program control.
The first link assembly 40 and the second link assembly 50 are disposed opposite to each other, and the movement principle and structure of the two are substantially the same, and hereinafter, the first link is taken as an example for illustration, and it can be understood that the second link assembly 50 is not described herein again.
In an embodiment, the first link assembly 40 includes a main driving frame 41 and a main driving arm 42 hinged to the main driving frame 41, the first driving device 20 is fixedly connected to the main driving frame 41, and the main driving arm 42 is hinged to the gluing frame 60. The main driving frame 41 is fixedly connected to the output shaft of the first driving device 20 to rotate around the axis of the output shaft under the driving of the first driving device 20. One end of the main transmission arm 42 is hinged to the main driving frame 41, and the other end is hinged to the gluing frame 60, so as to drive the gluing frame 60 to move linearly or rotate relative to the main transmission arm 42. The first link assembly 40 and the second link assembly 50 are oppositely arranged and are commonly connected to the gluing frame 60, so that the first link assembly 40, the mounting frame 10, the second link assembly 50 and the gluing frame 60 form a multi-link structure, and the movement track of the gluing frame 60 is parallel to the end surface of the mounting frame 10 or inclined relative to the front end surface of the mounting frame 10. The main driving frame 41 is hinged to the main driving arm 42, and optionally, the main driving frame 41 and the main driving arm 42 are rotatably connected by a pin so that the assembly of the two is convenient. Alternatively, one of the main driving frame 41 and the main transmission arm 42 is provided with a shaft-shaped boss, and the other is provided with a hole-shaped shaft hole, wherein the shaft-shaped boss is inserted into the shaft hole so as to rotatably connect the two.
Further, the first link assembly 40 further includes a balance frame 45, a sub-driving frame 43 and a sub-driving arm 44, the sub-driving frame 43 is hinged to the balance frame 45, the sub-driving frame 43 is hinged to the mounting frame 10, and the sub-driving arm 44 is hinged to the gluing frame 60. The main driving frame 41 and the main driving arm 42 are hinged to the balance frame 45, the sub-driving frame 43 is parallel to the main driving frame 41, and the sub-driving arm 44 is parallel to the main driving arm 42. The balance frame 45 is connected to a pin shaft of a hinge portion of the main drive frame 41 and the main transmission arm 42, so that the balance frame 45 is rotatably connected to the pin shaft of the hinge portion of the main drive frame 41 and the main transmission arm 42, so that the balance frame 45 rotates with the rotation of the main drive frame 41, and the balance frame 45 can rotate relative to the main drive frame 41. The auxiliary driving frame 43 is connected with the balancing frame 45 and the mounting frame 10, so that the balancing frame 45 drives the auxiliary driving frame 43 to rotate relative to the mounting frame 10 in the process of rotating along with the main driving frame 41, and the rotating balance of the main driving frame 41 is improved. The main driving frame 41 and the sub driving frame 43 are parallel to each other to form a parallel link structure. The main transmission arm 42 and the sub transmission arm 44 are parallel to each other to form a parallel link structure. The gluing frame 60 is hinged with the main transmission arm 42 and the auxiliary transmission arm 44, so that the main transmission arm 42 and the auxiliary transmission arm 44 jointly limit the gluing frame 60, the movement stability of the gluing frame 60 is improved, the gluing frame 60 is positioned on the same movement plane, and the inclination under the impact of external force is prevented.
The gimbal 45 forms a joint coupling portion of the first link assembly 40 to adjust the rotational direction and rotational adjustability of the first link assembly 40. Alternatively, the balance frame 45 has a plate-shaped structure, and the main driving frame 41, the main driving arm 42, the sub driving frame 43 and the sub driving arm 44 are connected to three hinge points of the balance frame 45. In one embodiment, the balance frame 45 includes a first connecting arm 452, a second connecting arm 451 intersecting with the first connecting arm 452, a first connecting shaft 454 mounted on the first connecting arm 452, a second connecting shaft 455 mounted on the second connecting arm 451, and a rotating portion 456 located at the intersection of the first connecting arm 452 and the second connecting arm 451. The sub-driving frame 43 is connected to the first connecting shaft 454, the sub-driving arm 44 is connected to the second connecting shaft 455, and the main driving arm 42 is connected to the rotating portion 456. In this embodiment, the gimbal 45 is in a frame or bracket-like configuration to reduce the overall weight of the gimbal 45, improve the stability of the operation of the first link assembly 40, and reduce the deflection caused by gravity. The first and second connecting arms 452 and 451 obliquely intersect to connect the main driving frame 41, the sub driving frame 43, the main driving arm 42 and the sub driving arm 44, respectively. Optionally, the balance frame 45 further includes a third connecting arm 453 connecting the first connecting arm 452 and the second connecting arm 451, so that the balance frame 45 forms a tripod structure, and has good structural stability and high overall strength.
The main driving frame 41 and the sub driving frame 43 are parallel to each other, and one ends of the main driving frame 41 and the sub driving frame 43 are connected to the mounting frame 10, and the other ends of the main driving frame 41 and the sub driving frame 43 are connected to the balance frame 45 to constitute a quadrangular structure. Optionally, a first distance of the sub-driving frame 43 is equal to a second distance of the main driving frame 41, wherein the first distance is a distance between an axis of the sub-driving frame 43 rotating relative to the balancing frame 45 and an axis of the sub-driving frame 43 rotating relative to the mounting frame 10; the second distance is the distance between the axis of rotation of the main drive frame 41 relative to the gimbal 45 and the axis of rotation of the main drive frame 41 relative to the mounting bracket 10. That is, the line connecting the axes of rotation of the main drive frame 41 and the sub drive frame 43 with respect to the mounting frame 10 and the first link arm 452 forms a parallelogram structure, so that the main drive frame 41 and the sub drive frame 43 rotate on the same plane, the rotation synchronism is good, and the structural strength is high. Wherein the content of the first and second substances,
in one embodiment, a third distance of the sub-transmission arm 44 is equal to a fourth distance of the main transmission arm 42, wherein the third distance is a distance between an axis of the sub-transmission arm 44 rotating relative to the balance frame 45 and an axis of the sub-transmission arm 44 rotating relative to the glue applying frame 60; the fourth distance is the distance between the axis of rotation of the main drive arm 42 relative to the gimbal 45 and the axis of rotation of the main drive arm 42 relative to the applicator frame 60. That is, the connecting line of the rotation axes of the main transmission arm 42 and the sub transmission arm 44 with respect to the gluing frame 60 and the second connecting arm 451 forms a parallelogram structure, so that the rotation of the main transmission arm 42 and the sub transmission arm 44 are in the same plane, the rotation synchronism is good, and the structural strength is high.
As shown in fig. 1 and 4, the main drive frame 41 is connected to the output shaft and is rotatably connected to the main drive arm 42. Optionally, the main drive arm 42 and the main drive frame 41 are configured as a rod-like linkage structure to facilitate assembly. Optionally, the main driving arm 42 includes an upper supporting rod 421, a lower supporting rod 422 disposed opposite to the upper supporting rod 421, a reinforcing rod 423 connecting the upper supporting rod 421 and the lower supporting rod 422, a first rotating shaft 424, and a second rotating shaft 425, the main driving frame 41 is rotatably connected to the first rotating shaft 424 and located between the upper supporting rod 421 and the lower supporting rod 422, and the glue applying frame 60 is rotatably connected to the second rotating shaft 425 and located between the upper supporting rod 421 and the lower supporting rod 422. The upper support rod 421 and the lower support rod 422 are oppositely arranged at intervals, and the reinforcing rod 423 connects the upper support rod 421 and the lower support rod 422 to connect the upper support rod 421 and the lower support rod 422 into a whole. Wherein, the quantity of the reinforcing rod 423 is set to one or more, and when the quantity of the reinforcing rod 423 is set to be a plurality, the reinforcing rod 423 is arranged at intervals. Alternatively, two adjacent reinforcing rods 423 are arranged in parallel. Optionally, two adjacent reinforcement bars 423 are inclined with respect to each other to improve structural strength.
The first rotating shaft 424 connects the upper support rod 421 and the lower support rod 422 to further improve the connection strength of the upper support rod 421 and the lower support rod 422. Optionally, the first rotating shaft 424 is rotatably connected to the upper support rod 421 and/or the lower support rod 422; alternatively, the first shaft 424 is fixedly connected to the upper support rod 421 and the lower support rod 422. One end of the main driving frame 41 is limited between the upper support rod 421 and the lower support rod 422, so that the main driving frame 41 is connected to the first rotating shaft 424, and the supporting effect is good.
Optionally, the second rotating shaft 425 connects the upper support rod 421 and the lower support rod 422 to further improve the connection strength of the upper support rod 421 and the lower support rod 422. Optionally, the second rotating shaft 425 is rotatably connected to the upper support rod 421 and/or the lower support rod 422; alternatively, the second shaft 425 is fixedly connected to the upper support bar 421 and the lower support bar 422. The gluing frame 60 is limited between the upper support bar 421 and the lower support bar 422 and is rotatably connected with the gluing frame 60 of the second rotating shaft 425, so that the axial moving range of the gluing frame 60 is limited between the upper support bar 421 and the lower support bar 422, and the limiting effect is good.
Optionally, the sub-transmission arm 44 includes lightening holes 441 distributed at intervals, and avoidance holes 426 formed by the upper support bar 421, the lower support bar 422, and the reinforcement bar 423, and a direction of a center line of the lightening holes 441 is inclined with respect to a center line of the avoidance holes 426 to adjust a stress deformation condition of the first link assembly 40, so that structural stability is good. Optionally, the centerline of the lightening holes 441 is oriented perpendicular with respect to the centerline of the avoidance holes 426.
As shown in fig. 2 and 5, the glue dispenser 60 is used to install one or more glue guns to correspondingly apply glue to the easy-open end of the food product through the glue guns. In one embodiment, the gluing frame 60 comprises a frame body 61, and two or more hinge shafts rotatably mounted on the frame body 61. The first link assembly 40 and the second link assembly 50 are respectively hinged to the hinge shafts, and then push the frame body 61 to move. The body portion 612 is provided with a hinge hole therethrough, and the hinge shaft is inserted and fitted in the hinge hole. Specifically, the gluing frame 60 comprises a first hinge shaft 62 and a second hinge shaft 63, the main transmission arm 42 of the first link assembly 40 is hinged to the first hinge shaft 62, and the auxiliary transmission arm 44 is hinged to the third hinge shaft. The second link assembly 50 corresponds to the first link assembly 40 and is hingedly connected to the applicator frame 60. The gluing frame 60 further includes a third hinge shaft and a fourth hinge shaft, and the second connecting rod assembly 50 is respectively hinged to the third hinge shaft and the fourth hinge shaft.
The frame body 61 includes a main body portion 612 and an installation portion 611 for installing the main body portion 612, and the glue gun is detachably installed on the installation portion 611. The mounting portion 611 is located at a side wall of the body portion 612 and away from where the mounting bracket 10 is located. The glue gun is arranged on the mounting part 611 and moves without blocking, so that the flexibility of glue gun gluing is improved. It should be noted that bearings may be disposed at the positions of the first connecting rod assembly 40, the second connecting rod assembly 50, the glue applying frame 60, etc. that are matched with the rotating portion 456, so as to improve the flexibility of rotation.
It should be understood that the above-described embodiments are merely preferred embodiments of the invention and the technical principles applied thereto. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, such variations are within the scope of the invention as long as they do not depart from the spirit of the invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.
Claims (10)
1. A high speed parallel manipulator apparatus for gluing easy open end comprising:
a mounting frame;
the first driving device is arranged on the mounting frame;
the second driving device is arranged on the mounting frame and is arranged at an interval with the first driving device;
a first link assembly connected to the first driving device;
a second linkage assembly connected to the second drive device;
the gluing frame is rotatably connected to the free end of the first connecting rod assembly and the free end of the second connecting rod assembly, and the free ends of the first connecting rod assembly and the second connecting rod assembly are arranged at intervals; wherein the content of the first and second substances,
the first driving device drives the first link assembly to rotate; and/or the second driving device drives the second connecting rod assembly to rotate, and the gluing frame is driven by the first connecting rod assembly and the second connecting rod assembly to translate or deflect relative to the mounting frame.
2. The high-speed parallel robot apparatus of claim 1, wherein a plane of rotation of the first link assembly is parallel or coincident with a plane of rotation of the second link assembly.
3. The high-speed parallel robot apparatus of claim 1, wherein the first link assembly and the second link assembly are symmetrically disposed.
4. A high speed parallel robot apparatus according to claim 1, 2 or 3, wherein the first link assembly comprises a main drive frame and a main drive arm hingedly connected to the main drive frame, the first drive means being fixedly connected to the main drive frame, the main drive arm being hingedly connected to the applicator frame.
5. The high-speed parallel manipulator apparatus according to claim 4, wherein the first linkage assembly further comprises a gimbal, a sub-drive frame and a sub-drive arm, the sub-drive frame is hingedly connected to the gimbal, the sub-drive frame is hingedly connected to the mounting frame, the sub-drive arm is hingedly connected to the glue coating frame, the main drive frame and the main drive arm are hingedly connected to the gimbal, the sub-drive frame is parallel to the main drive frame, and the sub-drive arm is parallel to the main drive arm.
6. The high-speed parallel manipulator apparatus according to claim 5, wherein a first distance of the sub-drive frame is equal to a second distance of the main drive frame, wherein the first distance is a distance between an axis of rotation of the sub-drive frame with respect to the gimbal and an axis of rotation of the sub-drive frame with respect to the mounting frame; the second distance is the distance between the axis of rotation of the main drive frame relative to the gimbal and the axis of rotation of the main drive frame relative to the mounting bracket.
7. The high-speed parallel manipulator device according to claim 5, wherein a third distance of the secondary transmission arm is equal to a fourth distance of the main transmission arm, wherein the third distance is a distance between an axis of the secondary transmission arm rotating relative to the balance frame and an axis of the secondary transmission arm rotating relative to the gluing frame; the fourth distance is the distance between the axis of the main transmission arm rotating relative to the balance frame and the axis of the main transmission arm rotating relative to the gluing frame.
8. The high-speed parallel manipulator device according to claim 5, wherein the gimbal includes a first connecting arm, a second connecting arm intersecting with the first connecting arm, a first connecting shaft mounted on the first connecting arm, a second connecting shaft mounted on the second connecting arm, and a rotating portion located at an intersection of the first connecting arm and the second connecting arm, the sub-driving frame is connected to the first connecting shaft, the sub-driving arm is connected to the second connecting shaft, and the main driving arm is connected to the rotating portion.
9. The high-speed parallel manipulator device according to claim 5, wherein the main transmission arm comprises an upper support rod, a lower support rod arranged opposite to the upper support rod, a reinforcing rod connecting the upper support rod and the lower support rod, a first rotating shaft and a second rotating shaft, the main driving frame is rotatably connected to the first rotating shaft and located between the upper support rod and the lower support rod, and the gluing frame is rotatably connected to the second rotating shaft and located between the upper support rod and the lower support rod.
10. The high-speed parallel robot apparatus of claim 1, wherein the first drive means comprises a motor assembly and a deceleration assembly connected to the motor assembly, the first link assembly being connected to the deceleration assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110088496.2A CN112659156A (en) | 2021-01-22 | 2021-01-22 | High-speed parallel manipulator device for gluing easy-open end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110088496.2A CN112659156A (en) | 2021-01-22 | 2021-01-22 | High-speed parallel manipulator device for gluing easy-open end |
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